Peter Knoben / Mbed 2 deprecated Oudverslag

Oud verslag voor Biquad.

Dependencies:   Biquad HIDScope QEI angleandposition controlandadjust mbed

Fork of includeair by Jasper Gerth

main.cpp@37:7fb72473592e, 2015-10-29 (annotated)

Committer:
Gerth
Date:
Thu Oct 29 13:00:36 2015 +0000
Revision:
37:7fb72473592e
Parent:
36:3856509519cf
Child:
38:df0b0abea598
removed the radtodeg constant because we didnt need it

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Gerth 0:dd66fff537d7 1 #include "mbed.h"
Gerth 1:917c07a4f3ec 2 #include "QEI.h"
Gerth 1:917c07a4f3ec 3 #include "HIDScope.h"
Gerth 1:917c07a4f3ec 4 #include "Biquad.h"
Gerth 1:917c07a4f3ec 5 #include "controlandadjust.h"
Gerth 16:63320b8f79c2 6 #include "angleandposition.h"
Gerth 1:917c07a4f3ec 7
Gerth 20:c5fb2ff5d457 8 ///////////////////////////////////////////////info out
Gerth 20:c5fb2ff5d457 9 HIDScope scope(6);// number of hidscope channels
Gerth 35:0141a1fe8138 10 Ticker scope_ticker;//ticker for the scope
Gerth 35:0141a1fe8138 11 const double scope_frequency=200; //HIDscope frequency
Gerth 35:0141a1fe8138 12
Gerth 35:0141a1fe8138 13 Timer checktimer;// timer to check how much time it takes to run the control loop, to see if the frequencies are not too high
Gerth 35:0141a1fe8138 14 volatile double checktimervalue=0; // make a variable to store the time the loop has taken
Gerth 20:c5fb2ff5d457 15
Gerth 20:c5fb2ff5d457 16 Serial pc(USBTX,USBRX);// serial connection to pc
Gerth 1:917c07a4f3ec 17
Gerth 35:0141a1fe8138 18 DigitalOut ledred(LED_RED);// leds on the k64f board
Gerth 16:63320b8f79c2 19 DigitalOut ledgreen(LED_GREEN);
Gerth 16:63320b8f79c2 20 DigitalOut ledblue(LED_BLUE);
Gerth 14:4c4f45a1dd23 21
Gerth 35:0141a1fe8138 22
Gerth 20:c5fb2ff5d457 23 /////////////////////////////////////////////ENCODERS
Gerth 35:0141a1fe8138 24 const float cpr_sensor=32; //counts per rotation of the sensor
Gerth 35:0141a1fe8138 25 const float cpr_shaft=cpr_sensor*131;//counts per rotation of the outputshaft
Gerth 20:c5fb2ff5d457 26
Gerth 20:c5fb2ff5d457 27 QEI encoder1(D13,D12,NC,cpr_sensor);/// encoders on motors X2 encoding
Gerth 35:0141a1fe8138 28 QEI encoder2(D10,D11,NC,cpr_sensor);// first is pin a, pin b and the second is pin b, pin a so the encoders give positive rotation when the pod is moved forward
Gerth 20:c5fb2ff5d457 29
Gerth 35:0141a1fe8138 30 const double PIE=3.14159265359; // pi, for calculations
Gerth 35:0141a1fe8138 31 const float counttorad=((2*PIE)/cpr_shaft);// to convert counts to rotation in rad
Gerth 1:917c07a4f3ec 32
Gerth 24:dd75c961ae88 33
Gerth 6:37c94a5e205f 34 /////////////////////////////////CALIBRATION (MODE)
Gerth 20:c5fb2ff5d457 35 const double radpersec_calibrate=0.1*PIE;// speed of arms when in calibration mode
Gerth 20:c5fb2ff5d457 36 int modecounter=1;//counter in which mode the robot is
Gerth 35:0141a1fe8138 37 const double readbuttoncalibrate_frequency=50;//frequency at which the buttons are read when in calibration mode
Gerth 20:c5fb2ff5d457 38 const double ledblink_frequency=4;//frequency at which the green led and leds on top blink when in resp button or calibration mode
Gerth 6:37c94a5e205f 39
Gerth 20:c5fb2ff5d457 40 DigitalIn changemodebutton(PTA4);// button to change mode (sw3)
Gerth 35:0141a1fe8138 41 Ticker readbuttoncalibrate_ticker;//ticker for reading out the buttons when calibrating
Gerth 35:0141a1fe8138 42 Ticker ledblink_ticker;// ticker for blinking the leds
Gerth 14:4c4f45a1dd23 43
Gerth 20:c5fb2ff5d457 44 DigitalIn buttonR(D2);//rigth button on biorobotics shield
Gerth 20:c5fb2ff5d457 45 DigitalIn buttonL(D3);//left button on biorobotics shield
Gerth 8:54a7da09ccad 46
Gerth 27:31cb8fbd976d 47 /////////////////READSIGNAL
Gerth 28:71a90073e482 48 const double readsignal_frequency=100;//frequency at wich the filtered emg signal is sampled to be 0 or 1
Gerth 35:0141a1fe8138 49 Ticker readsignal_ticker; // ticker for reading the signal of the emg
Gerth 27:31cb8fbd976d 50
Gerth 27:31cb8fbd976d 51
Gerth 27:31cb8fbd976d 52 DigitalOut led1(PTC12);// rigth led on biorobotics shield
Gerth 27:31cb8fbd976d 53 DigitalOut led2(D9);//left led on biorobotics shield
Gerth 27:31cb8fbd976d 54
Gerth 1:917c07a4f3ec 55 //////////////////////////////////CONTROLLER
Gerth 25:21dcd3f9eac2 56 const double control_frequency=250;// frequency at which the controller is called
Gerth 1:917c07a4f3ec 57 //controller constants
Gerth 31:8646e853979f 58 float Kp_shoot=6;
Gerth 31:8646e853979f 59 float Ki_shoot=2;
Gerth 31:8646e853979f 60 float Kd_shoot=0.5;
Gerth 31:8646e853979f 61 float Kp_move=2;
Gerth 31:8646e853979f 62 float Ki_move=1.25;
Gerth 31:8646e853979f 63 float Kd_move=0.05;
Gerth 31:8646e853979f 64
Gerth 27:31cb8fbd976d 65 controlandadjust mycontroller(2,control_frequency); // make a controller, value in brackets is errorband in degrees and controller frequency
Gerth 20:c5fb2ff5d457 66
Gerth 35:0141a1fe8138 67 Ticker control_ticker;//ticker for the controller
Gerth 35:0141a1fe8138 68 const double Ts_control=1.0/control_frequency;//sample time of the controller
Gerth 27:31cb8fbd976d 69
Gerth 26:c935e39cce8a 70 float error1=0,//controller error storage variables
Gerth 26:c935e39cce8a 71 error2=0;
Gerth 1:917c07a4f3ec 72
Gerth 35:0141a1fe8138 73 InterruptIn valuechangebutton(PTC6);//button to change filter gains per arm via Serial
Gerth 1:917c07a4f3ec 74
Gerth 1:917c07a4f3ec 75 //safetyandthreshold
Gerth 3:48438eea184e 76 AnalogIn safety_pot(A3);//pot 2, used for the safety cutoff value for the pwm
Gerth 3:48438eea184e 77 AnalogIn threshold_pot(A2);//pot1, used to adjust threshold if signal differs per person
Gerth 1:917c07a4f3ec 78
Gerth 1:917c07a4f3ec 79 Ticker safetyandthreshold_ticker; // ticker to read potmeters
Gerth 3:48438eea184e 80 const double safetyandthreshold_frequency=1; // frequency for the ticker
Gerth 3:48438eea184e 81
Gerth 4:bf7765b0f612 82 float threshold_value=1;//initial threshold value
Gerth 1:917c07a4f3ec 83
Gerth 1:917c07a4f3ec 84 ////////////////////////////////FILTER
Gerth 35:0141a1fe8138 85 const double filter_frequency=500; // frequency at which the emg signal is filtered
Gerth 35:0141a1fe8138 86 #include "filtervalues.h"// call the values for the biquads these are in a separate file to keep this code readable
Gerth 20:c5fb2ff5d457 87
Gerth 35:0141a1fe8138 88 Ticker filter_ticker;//Ticker for the filter
Gerth 1:917c07a4f3ec 89
Gerth 20:c5fb2ff5d457 90 Biquad myfilter1;// make filter for signal 1
Gerth 20:c5fb2ff5d457 91 Biquad myfilter2;//make filter for signal 2
Gerth 1:917c07a4f3ec 92
Gerth 20:c5fb2ff5d457 93 AnalogIn emg1_input(A0);//input for first emg signal
Gerth 20:c5fb2ff5d457 94 AnalogIn emg2_input(A1);//input for second emg signal
Gerth 20:c5fb2ff5d457 95
Gerth 20:c5fb2ff5d457 96 volatile double filteredsignal1=0;//the first filtered emg signal
Gerth 20:c5fb2ff5d457 97 volatile double filteredsignal2=0;//the second filtered emg signal
Gerth 35:0141a1fe8138 98 float filter_extragain1=1,filter_extragain2=1; // this is a factor to increase the gain per arm, adustable via serial
Gerth 1:917c07a4f3ec 99
Gerth 4:bf7765b0f612 100
Gerth 4:bf7765b0f612 101 //////////////////////////////// POSITION AND ANGLE SHIZZLE
Gerth 34:bc2d64e86cb9 102 const double safetymarginfield=0.1; //adjustable, tweak for maximum but safe range
Gerth 34:bc2d64e86cb9 103 const double mm_per_sec_emg=0.1;// move the pod 100 mm per sec if muscle is flexed
Gerth 34:bc2d64e86cb9 104 const double y_start=0.145;//starting y position of the pod
Gerth 34:bc2d64e86cb9 105 const double y_punch=0.473;// position to where there is punched
Gerth 34:bc2d64e86cb9 106 const double timetoshoot=0.35;// time it can take to shoot
Gerth 34:bc2d64e86cb9 107 const double timetogoback=1;// time it can take to go back after shooting
Gerth 20:c5fb2ff5d457 108
Gerth 35:0141a1fe8138 109 volatile double desired_position=0;//desired x position
Gerth 35:0141a1fe8138 110 double desired_angle1=0; //desired angle of arm 1 (calculated with anglepos)
Gerth 35:0141a1fe8138 111 double desired_angle2=0; // desired anvle of arm 2 (calculated with anglepos)
Gerth 19:6f22b5687587 112
Gerth 35:0141a1fe8138 113 const float fieldwidth=0.473; // width of the field
Gerth 20:c5fb2ff5d457 114 const float maxdisplacement=((fieldwidth/2)-safetymarginfield); //so the pod doesn't hit the edges of the playfield
Gerth 3:48438eea184e 115
Gerth 20:c5fb2ff5d457 116 angleandposition anglepos;// initiate the angle and position calculation library
Gerth 20:c5fb2ff5d457 117
Gerth 1:917c07a4f3ec 118 //////////////////////GO FLAGS AND ACTIVATION FUNCTIONS
Gerth 1:917c07a4f3ec 119 volatile bool scopedata_go=false,
Gerth 1:917c07a4f3ec 120 control_go=false,
Gerth 1:917c07a4f3ec 121 filter_go=false,
Gerth 3:48438eea184e 122 safetyandthreshold_go=false,
Gerth 6:37c94a5e205f 123 readsignal_go=false,
Gerth 8:54a7da09ccad 124 switchedmode=true,
Gerth 14:4c4f45a1dd23 125 readbuttoncalibrate_go=false,
Gerth 14:4c4f45a1dd23 126 ledblink_go=false;
Gerth 1:917c07a4f3ec 127
Gerth 1:917c07a4f3ec 128 void scopedata_activate()
Gerth 1:917c07a4f3ec 129 {
Gerth 1:917c07a4f3ec 130 scopedata_go=true;
Gerth 1:917c07a4f3ec 131 }
Gerth 1:917c07a4f3ec 132 void control_activate()
Gerth 1:917c07a4f3ec 133 {
Gerth 1:917c07a4f3ec 134 control_go=true;
Gerth 1:917c07a4f3ec 135 }
Gerth 1:917c07a4f3ec 136 void filter_activate()
Gerth 1:917c07a4f3ec 137 {
Gerth 1:917c07a4f3ec 138 filter_go=true;
Gerth 1:917c07a4f3ec 139 }
Gerth 1:917c07a4f3ec 140 void safetyandthreshold_activate()
Gerth 1:917c07a4f3ec 141 {
Gerth 1:917c07a4f3ec 142 safetyandthreshold_go=true;
Gerth 1:917c07a4f3ec 143 }
Gerth 3:48438eea184e 144 void readsignal_activate()
Gerth 3:48438eea184e 145 {
Gerth 3:48438eea184e 146 readsignal_go=true;
Gerth 3:48438eea184e 147 }
Gerth 7:7fbb2c028778 148 void readbuttoncalibrate_activate()
Gerth 7:7fbb2c028778 149 {
Gerth 7:7fbb2c028778 150 readbuttoncalibrate_go=true;
Gerth 7:7fbb2c028778 151 }
Gerth 14:4c4f45a1dd23 152 void ledblink_activate()
Gerth 14:4c4f45a1dd23 153 {
Gerth 14:4c4f45a1dd23 154 ledblink_go=true;
Gerth 14:4c4f45a1dd23 155 }
Gerth 1:917c07a4f3ec 156
Gerth 1:917c07a4f3ec 157 ////////////////////////FUNCTIONS
Gerth 1:917c07a4f3ec 158 //gather data and send to scope
Gerth 32:c940f6b6a6a0 159 void scopedata(double wanted_y)
Gerth 1:917c07a4f3ec 160 {
Gerth 35:0141a1fe8138 161 scope.set(0,desired_position); // desired x position
Gerth 35:0141a1fe8138 162 scope.set(1,wanted_y); // desired y position
Gerth 35:0141a1fe8138 163 scope.set(2,filteredsignal1); // filterded emg signal rigth arm
Gerth 35:0141a1fe8138 164 scope.set(3,filteredsignal2); // filtered emg signal left arm
Gerth 35:0141a1fe8138 165 scope.set(4,threshold_value); // threshold value
Gerth 35:0141a1fe8138 166 scope.set(5,mycontroller.motor1pwm()); //pwm signal send to motor 1
Gerth 35:0141a1fe8138 167 scope.send(); // send info to HIDScope server
Gerth 4:bf7765b0f612 168 }
Gerth 1:917c07a4f3ec 169 //read potmeters and adjust the safetyfactor and threshold
Gerth 1:917c07a4f3ec 170 void safetyandthreshold()
Gerth 1:917c07a4f3ec 171 {
Gerth 3:48438eea184e 172 mycontroller.cutoff((ceil (10*safety_pot.read()) )/10); // adjust the safetyfactor value between 0 and 1 rounded to 1 decimal
Gerth 28:71a90073e482 173 threshold_value=((ceil (100*threshold_pot.read()) )/100); // adjust the threshold value between 0 and 1 rounded to 2 decimals
Gerth 1:917c07a4f3ec 174 }
Gerth 1:917c07a4f3ec 175 /////filter
Gerth 28:71a90073e482 176 void filtereverything(bool makeempty)
Gerth 1:917c07a4f3ec 177 {
Gerth 1:917c07a4f3ec 178 //pass1 so f1
Gerth 2:c7707856d137 179 double pass1_emg1 = myfilter1.filter(emg1_input.read(), v1_f1_emg1 , v2_f1_emg1 , a1_f1 , a2_f1 , b0_f1 , b1_f1 , b2_f1);
Gerth 2:c7707856d137 180 double pass1_emg2 = myfilter2.filter(emg2_input.read(), v1_f1_emg2 , v2_f1_emg2 , a1_f1 , a2_f1 , b0_f1 , b1_f1 , b2_f1);
Gerth 1:917c07a4f3ec 181
Gerth 1:917c07a4f3ec 182 //pass2 so f2
Gerth 2:c7707856d137 183 double pass2_emg1 = myfilter1.filter(pass1_emg1, v1_f2_emg1 , v2_f2_emg1 , a1_f2 , a2_f2 , b0_f2 , b1_f2 , b2_f2);
Gerth 2:c7707856d137 184 double pass2_emg2 = myfilter2.filter(pass1_emg2, v1_f2_emg2 , v2_f2_emg2 , a1_f2 , a2_f2 , b0_f2 , b1_f2 , b2_f2);
Gerth 1:917c07a4f3ec 185
Gerth 1:917c07a4f3ec 186 //pass3 so f3
Gerth 2:c7707856d137 187 double pass3_emg1 = myfilter1.filter(pass2_emg1, v1_f3_emg1 , v2_f3_emg1 , a1_f3 , a2_f3 , b0_f3 , b1_f3 , b2_f3);
Gerth 2:c7707856d137 188 double pass3_emg2 = myfilter2.filter(pass2_emg2, v1_f3_emg2 , v2_f3_emg2 , a1_f3 , a2_f3 , b0_f3 , b1_f3 , b2_f3);
Gerth 1:917c07a4f3ec 189
Gerth 1:917c07a4f3ec 190 //pass4 so f4
Gerth 2:c7707856d137 191 double pass4_emg1 = myfilter1.filter(pass3_emg1, v1_f4_emg1 , v2_f4_emg1 , a1_f4 , a2_f4 , b0_f4 , b1_f4 , b2_f4);
Gerth 2:c7707856d137 192 double pass4_emg2 = myfilter2.filter(pass3_emg2, v1_f4_emg2 , v2_f4_emg2 , a1_f4 , a2_f4 , b0_f4 , b1_f4 , b2_f4);
Gerth 1:917c07a4f3ec 193
Gerth 1:917c07a4f3ec 194 //pass5 so f5
Gerth 2:c7707856d137 195 double pass5_emg1 = myfilter1.filter(pass4_emg1, v1_f5_emg1 , v2_f5_emg1 , a1_f5 , a2_f5 , b0_f5 , b1_f5 , b2_f5);
Gerth 2:c7707856d137 196 double pass5_emg2 = myfilter2.filter(pass4_emg2, v1_f5_emg2 , v2_f5_emg2 , a1_f5 , a2_f5 , b0_f5 , b1_f5 , b2_f5);
Gerth 1:917c07a4f3ec 197
Gerth 1:917c07a4f3ec 198 ///// take absolute value
Gerth 2:c7707856d137 199 double pass5_emg1_abs=(fabs(pass5_emg1));
Gerth 2:c7707856d137 200 double pass5_emg2_abs=(fabs(pass5_emg2));
Gerth 1:917c07a4f3ec 201
Gerth 1:917c07a4f3ec 202 //pass6 so f6
Gerth 2:c7707856d137 203 double pass6_emg1 = myfilter1.filter(pass5_emg1_abs, v1_f6_emg1 , v2_f6_emg1 , a1_f6 , a2_f6 , b0_f6 , b1_f6 , b2_f6);
Gerth 2:c7707856d137 204 double pass6_emg2 = myfilter2.filter(pass5_emg2_abs, v1_f6_emg2 , v2_f6_emg2 , a1_f6 , a2_f6 , b0_f6 , b1_f6 , b2_f6);
Gerth 1:917c07a4f3ec 205
Gerth 1:917c07a4f3ec 206
Gerth 1:917c07a4f3ec 207 //pass7 so f7
Gerth 2:c7707856d137 208 double pass7_emg1 = myfilter1.filter(pass6_emg1, v1_f7_emg1 , v2_f7_emg1 , a1_f7 , a2_f7 , b0_f7 , b1_f7 , b2_f7);
Gerth 2:c7707856d137 209 double pass7_emg2 = myfilter2.filter(pass6_emg2, v1_f7_emg2 , v2_f7_emg2 , a1_f7 , a2_f7 , b0_f7 , b1_f7 , b2_f7);
Gerth 1:917c07a4f3ec 210
Gerth 35:0141a1fe8138 211 filteredsignal1=(pass7_emg1*9e11*filter_extragain1);//this is needed to make the signal ~1 when flexed
Gerth 35:0141a1fe8138 212 filteredsignal2=(pass7_emg2*9e11*filter_extragain2);// filter_extragain is adjusted via serial
Gerth 30:cd4d9754a357 213
Gerth 35:0141a1fe8138 214 if (makeempty==true) {//this is needed so the filtered value is not high after shooting basically it resets the filter
Gerth 28:71a90073e482 215 pass1_emg1 = pass1_emg2 =pass2_emg1 =pass2_emg2 =pass3_emg1 = pass3_emg2 =pass4_emg1 =pass4_emg2 =pass5_emg1 =pass5_emg2 =0;
Gerth 28:71a90073e482 216 pass5_emg1_abs=pass5_emg2_abs=pass6_emg1 =pass6_emg2 =pass7_emg1=pass7_emg2 =filteredsignal1=filteredsignal2=0;
Gerth 28:71a90073e482 217 v1_f1_emg1=v1_f1_emg2=v1_f2_emg1=v1_f2_emg2=v1_f3_emg1=v1_f3_emg2=v1_f4_emg1=v1_f4_emg2=v1_f5_emg1=0;
Gerth 28:71a90073e482 218 v1_f5_emg2=v1_f6_emg1=v1_f6_emg2=v1_f7_emg1=v1_f7_emg2=0;
Gerth 28:71a90073e482 219 }
Gerth 28:71a90073e482 220
Gerth 1:917c07a4f3ec 221 }
Gerth 1:917c07a4f3ec 222 //adjust controller values when sw2 is pressed
Gerth 1:917c07a4f3ec 223 void valuechange()
Gerth 1:917c07a4f3ec 224 {
Gerth 35:0141a1fe8138 225 mycontroller.STOP(); // stop motors
Gerth 35:0141a1fe8138 226 pc.printf("Extra gain for rigth arm is now %f, enter new value\n",filter_extragain1); // print extra gain for rigth arm
Gerth 35:0141a1fe8138 227 pc.scanf("%f", &filter_extragain1); //read the input from serial and write to filter_extragain1
Gerth 33:1c7b498ded25 228
Gerth 35:0141a1fe8138 229 pc.printf("Extra gain for left arm is now %f, enter new value\n",filter_extragain2); // print extra gain for left arm
Gerth 35:0141a1fe8138 230 pc.scanf("%f", &filter_extragain2);//read the input from serial and write to filter_extragain2
Gerth 1:917c07a4f3ec 231 }
Gerth 11:c10651055871 232
Gerth 20:c5fb2ff5d457 233 // shoot the pod forward
Gerth 19:6f22b5687587 234 void shoot()
Gerth 14:4c4f45a1dd23 235 {
Gerth 35:0141a1fe8138 236 ledgreen=1;
Gerth 32:c940f6b6a6a0 237 double time=0;
Gerth 35:0141a1fe8138 238 double stepsize=(0.5*PIE)/(timetoshoot*control_frequency); //calculate stepsize
Gerth 35:0141a1fe8138 239 double profile_angle=0;// used for the profilie
Gerth 35:0141a1fe8138 240 double x_punch=anglepos.angletoposition(counttorad*encoder1.getPulses(),counttorad*encoder2.getPulses());// calculate actual x positon from the encoder angles
Gerth 35:0141a1fe8138 241 double y_during_punch=y_start;//set initial y value to baseline
Gerth 35:0141a1fe8138 242 Timer shoottimer; // make a timer
Gerth 19:6f22b5687587 243 shoottimer.reset();
Gerth 19:6f22b5687587 244 shoottimer.start();
Gerth 23:1c4a18799464 245 //forward
Gerth 19:6f22b5687587 246 while (time<=timetoshoot) {
Gerth 35:0141a1fe8138 247 ledblue=!ledblue; // blink blue led (very fast, so not noticable blinking)
Gerth 25:21dcd3f9eac2 248
Gerth 32:c940f6b6a6a0 249 profile_angle+=stepsize; // add stepsize to angle
Gerth 33:1c7b498ded25 250
Gerth 32:c940f6b6a6a0 251 y_during_punch=(y_punch-y_start)*(1-cos(profile_angle))+y_start; // calculate y position for shooting
Gerth 33:1c7b498ded25 252
Gerth 20:c5fb2ff5d457 253 if (y_during_punch>=y_punch) {//to check if y position is not bigger than y_punch for safety
Gerth 19:6f22b5687587 254 y_during_punch=y_punch;
Gerth 19:6f22b5687587 255 } else {
Gerth 19:6f22b5687587 256 y_during_punch=y_during_punch;
Gerth 33:1c7b498ded25 257 }
Gerth 19:6f22b5687587 258
Gerth 29:cd47a5a772db 259 desired_angle1=anglepos.positiontoangle1(x_punch,y_during_punch);// calculate desired angles
Gerth 29:cd47a5a772db 260 desired_angle2=anglepos.positiontoangle2(x_punch,y_during_punch);
Gerth 19:6f22b5687587 261
Gerth 25:21dcd3f9eac2 262 error1=(desired_angle1-counttorad*encoder1.getPulses());//calculate errors
Gerth 25:21dcd3f9eac2 263 error2=(desired_angle2-counttorad*encoder2.getPulses());
Gerth 19:6f22b5687587 264
Gerth 31:8646e853979f 265 mycontroller.PID(error1,error2,Kp_shoot,Ki_shoot,Kd_shoot);;// send errors to controller
Gerth 31:8646e853979f 266 scopedata(y_during_punch);//send data to hidscope WARING lower freqyency than normal
Gerth 19:6f22b5687587 267
Gerth 20:c5fb2ff5d457 268 time+=(Ts_control);// add time it should take to calculated time
Gerth 28:71a90073e482 269 filtereverything(true);//set al filter variables to 0
Gerth 35:0141a1fe8138 270
Gerth 35:0141a1fe8138 271 wait(time-shoottimer.read());// IMPORTANT wait until the loop has taken the time it should need,
Gerth 35:0141a1fe8138 272 // if this is not done the loop wil go to fast and the motors can't keep up
Gerth 35:0141a1fe8138 273 // this is because the control loop takes far less time than Ts_control
Gerth 11:c10651055871 274 }
Gerth 23:1c4a18799464 275 //back
Gerth 35:0141a1fe8138 276 time=0; // reset time
Gerth 35:0141a1fe8138 277 shoottimer.reset();//reset timer
Gerth 35:0141a1fe8138 278 stepsize=(PIE)/(timetogoback*control_frequency);//calculate stepsize
Gerth 35:0141a1fe8138 279 profile_angle=0;//reset angle for the displacement profile
Gerth 35:0141a1fe8138 280 desired_position=0;// set desired x position to 0, so the robot is in the middle in front of the goal after shooting
Gerth 26:c935e39cce8a 281 while (time<=timetogoback) {
Gerth 35:0141a1fe8138 282 ledblue=!ledblue;// blink blue led
Gerth 25:21dcd3f9eac2 283
Gerth 32:c940f6b6a6a0 284 profile_angle+=stepsize; // add stepsize to y position
Gerth 33:1c7b498ded25 285 y_during_punch=0.5*(y_punch-y_start)*(1+cos(profile_angle))+y_start; // calculate y position for shooting
Gerth 23:1c4a18799464 286 if (y_during_punch<=y_start) {//to check if y position is not smaller than y_start for safety
Gerth 23:1c4a18799464 287 y_during_punch=y_start;
Gerth 23:1c4a18799464 288 } else {
Gerth 23:1c4a18799464 289 y_during_punch=y_during_punch;
Gerth 23:1c4a18799464 290 }
Gerth 23:1c4a18799464 291
Gerth 34:bc2d64e86cb9 292 desired_angle1=anglepos.positiontoangle1(desired_position,y_during_punch);// calculate desired angles
Gerth 34:bc2d64e86cb9 293 desired_angle2=anglepos.positiontoangle2(desired_position,y_during_punch);
Gerth 34:bc2d64e86cb9 294
Gerth 23:1c4a18799464 295
Gerth 25:21dcd3f9eac2 296 error1=(desired_angle1-counttorad*encoder1.getPulses());//calculate errors
Gerth 25:21dcd3f9eac2 297 error2=(desired_angle2-counttorad*encoder2.getPulses());
Gerth 23:1c4a18799464 298
Gerth 31:8646e853979f 299 mycontroller.PID(error1,error2,Kp_shoot,Ki_shoot,Kd_shoot);;// send errors to controller
Gerth 31:8646e853979f 300 scopedata(y_during_punch);//send data to hidscope WARING lower freqyency than normal
Gerth 23:1c4a18799464 301
Gerth 23:1c4a18799464 302 time+=(Ts_control);// add time it should take to calculated time
Gerth 35:0141a1fe8138 303 filtereverything(false);//start filtering the signal (lower frewquency than normal)
Gerth 23:1c4a18799464 304 wait(time-shoottimer.read());// IMPORTANT wait until the loop has taken the time it should need, if this is not done the loop wil go to fast and the motors can't keep up
Gerth 25:21dcd3f9eac2 305 }
Gerth 19:6f22b5687587 306 shoottimer.stop();
Gerth 35:0141a1fe8138 307 ledblue=1; // blue led off
Gerth 35:0141a1fe8138 308 ledgreen=0; // green led on
Gerth 11:c10651055871 309 }
Gerth 11:c10651055871 310
Gerth 16:63320b8f79c2 311 ////////////////////////////////////////////////////READ EMG AND MOVE DESIRED POSITION
Gerth 3:48438eea184e 312 void readsignal()
Gerth 3:48438eea184e 313 {
Gerth 11:c10651055871 314 //check if pod has to shoot
Gerth 4:bf7765b0f612 315 if (filteredsignal1>=threshold_value && filteredsignal2>=threshold_value) {
Gerth 35:0141a1fe8138 316 led1=led2=1; // ligth up both leds
Gerth 11:c10651055871 317 shoot();
Gerth 14:4c4f45a1dd23 318 // check if pod has to move to the right
Gerth 4:bf7765b0f612 319 } else if (filteredsignal1>=threshold_value && filteredsignal2<=threshold_value) {
Gerth 35:0141a1fe8138 320 led1=1;// ligth up rigth led
Gerth 4:bf7765b0f612 321 led2=0;
Gerth 16:63320b8f79c2 322 desired_position += (mm_per_sec_emg/readsignal_frequency);// move desiredposition right
Gerth 11:c10651055871 323 if (desired_position>=maxdisplacement) {//check if the pod doesnt move too far and hit the edge
Gerth 11:c10651055871 324 desired_position=maxdisplacement;
Gerth 11:c10651055871 325 } else {
Gerth 11:c10651055871 326 desired_position=desired_position;
Gerth 11:c10651055871 327 }
Gerth 14:4c4f45a1dd23 328 // check if pod has to move to the left
Gerth 4:bf7765b0f612 329 } else if (filteredsignal1<=threshold_value && filteredsignal2>=threshold_value) {
Gerth 35:0141a1fe8138 330 led1=0; // ligth up left led
Gerth 4:bf7765b0f612 331 led2=1;
Gerth 16:63320b8f79c2 332 desired_position -= (mm_per_sec_emg/readsignal_frequency);//move desiredposition left
Gerth 11:c10651055871 333 if (desired_position<=(-1*maxdisplacement)) {//check if the pod doesnt move too far and hit the edge
Gerth 14:4c4f45a1dd23 334 desired_position=(-1*maxdisplacement);
Gerth 11:c10651055871 335 } else {
Gerth 11:c10651055871 336 desired_position=desired_position;
Gerth 11:c10651055871 337 }
Gerth 3:48438eea184e 338 } else {
Gerth 4:bf7765b0f612 339 led1=led2=0;
Gerth 3:48438eea184e 340 }
Gerth 16:63320b8f79c2 341 }
Gerth 28:71a90073e482 342
Gerth 16:63320b8f79c2 343 ///////////////////////////////////////////////READ BUTTON AND MOVE DESIRED POSITION
Gerth 35:0141a1fe8138 344 void readsignalbutton() // same as above, only with buttons as input
Gerth 16:63320b8f79c2 345 {
Gerth 19:6f22b5687587 346 //write value of button to variable
Gerth 17:72d3522165ac 347 int buttonr=buttonR.read();
Gerth 17:72d3522165ac 348 int buttonl=buttonL.read();
Gerth 16:63320b8f79c2 349 //check if pod has to shoot
Gerth 17:72d3522165ac 350 if (buttonr==0 && buttonl==0) {
Gerth 16:63320b8f79c2 351 led1=led2=1;
Gerth 16:63320b8f79c2 352 shoot();
Gerth 16:63320b8f79c2 353 // check if pod has to move to the right
Gerth 17:72d3522165ac 354 } else if (buttonr==0 && buttonl==1) {
Gerth 16:63320b8f79c2 355 led1=1;
Gerth 16:63320b8f79c2 356 led2=0;
Gerth 16:63320b8f79c2 357 desired_position += (mm_per_sec_emg/readsignal_frequency);// move desiredposition right
Gerth 17:72d3522165ac 358 if (desired_position>=maxdisplacement) {//check if the pod doesnt move too far and hit the edge
Gerth 16:63320b8f79c2 359 desired_position=maxdisplacement;
Gerth 16:63320b8f79c2 360 } else {
Gerth 16:63320b8f79c2 361 desired_position=desired_position;
Gerth 16:63320b8f79c2 362 }
Gerth 17:72d3522165ac 363 // check if pod has to move to the left
Gerth 17:72d3522165ac 364 } else if (buttonr==1 && buttonl==0) {
Gerth 16:63320b8f79c2 365 led1=0;
Gerth 16:63320b8f79c2 366 led2=1;
Gerth 16:63320b8f79c2 367 desired_position -= (mm_per_sec_emg/readsignal_frequency);//move desiredposition left
Gerth 17:72d3522165ac 368 if (desired_position<=(-1*maxdisplacement)) {//check if the pod doesnt move too far and hit the edge
Gerth 16:63320b8f79c2 369 desired_position=(-1*maxdisplacement);
Gerth 16:63320b8f79c2 370 } else {
Gerth 16:63320b8f79c2 371 desired_position=desired_position;
Gerth 16:63320b8f79c2 372 }
Gerth 16:63320b8f79c2 373 } else {
Gerth 16:63320b8f79c2 374 led1=led2=0;
Gerth 16:63320b8f79c2 375 }
Gerth 3:48438eea184e 376 }
Gerth 3:48438eea184e 377
Gerth 28:71a90073e482 378 void changemode() //this makes the counter higher to switch between modes
Gerth 6:37c94a5e205f 379 {
Gerth 35:0141a1fe8138 380 mycontroller.STOP(); // stop the controller
Gerth 35:0141a1fe8138 381 switchedmode=true; // set switchedmode to true so in the main loop some statements are executed
Gerth 35:0141a1fe8138 382 modecounter++; // increase counter
Gerth 35:0141a1fe8138 383 if (modecounter==5) { // reset counter if counter=5
Gerth 6:37c94a5e205f 384 modecounter=0;
Gerth 6:37c94a5e205f 385 } else {
Gerth 6:37c94a5e205f 386 modecounter=modecounter;
Gerth 6:37c94a5e205f 387 }
Gerth 20:c5fb2ff5d457 388 wait(1);// needed because else it is checked too fast if the button is pressed and modes change too fast
Gerth 35:0141a1fe8138 389 // tried it with interruptin but didn't work, bt this works good
Gerth 6:37c94a5e205f 390 }
Gerth 0:dd66fff537d7 391
Gerth 16:63320b8f79c2 392 ///////////////////////////////////////////////////MAIN
Gerth 7:7fbb2c028778 393
Gerth 0:dd66fff537d7 394 int main()
Gerth 0:dd66fff537d7 395 {
Gerth 35:0141a1fe8138 396 //initiate tickers
Gerth 1:917c07a4f3ec 397 safetyandthreshold_ticker.attach(&safetyandthreshold_activate,1.0/safetyandthreshold_frequency);
Gerth 1:917c07a4f3ec 398 filter_ticker.attach(&filter_activate,1.0/filter_frequency);
Gerth 1:917c07a4f3ec 399 control_ticker.attach(&control_activate,1.0/control_frequency);
Gerth 1:917c07a4f3ec 400 scope_ticker.attach(&scopedata_activate,1.0/scope_frequency);
Gerth 3:48438eea184e 401 readsignal_ticker.attach(&readsignal_activate, 1.0/readsignal_frequency);
Gerth 7:7fbb2c028778 402 readbuttoncalibrate_ticker.attach(&readbuttoncalibrate_activate, 1.0/readbuttoncalibrate_frequency);
Gerth 14:4c4f45a1dd23 403 ledblink_ticker.attach(&ledblink_activate, 1.0/ledblink_frequency);
Gerth 14:4c4f45a1dd23 404
Gerth 20:c5fb2ff5d457 405 pc.baud(115200);//set baudrate to 115200
Gerth 35:0141a1fe8138 406
Gerth 35:0141a1fe8138 407 while(1) {// while (1) so continious loop
Gerth 35:0141a1fe8138 408 valuechangebutton.fall(&valuechange);// used to change the filter gains
Gerth 35:0141a1fe8138 409 checktimer.reset();// reset the timer to check the time it takes to run the entire control loop
Gerth 26:c935e39cce8a 410 checktimer.start();
Gerth 20:c5fb2ff5d457 411 if (changemodebutton==0) {// check if the change mode button is pressed
Gerth 35:0141a1fe8138 412 changemode();//call changemode
Gerth 1:917c07a4f3ec 413 }
Gerth 20:c5fb2ff5d457 414 if (scopedata_go==true) {//send scopedata
Gerth 26:c935e39cce8a 415 //TIME THIS LOOP TAKES 0.000008 SEC (PEAKS AT 0.000015)
Gerth 35:0141a1fe8138 416 scopedata(y_start);// call scopedata, use baseline as desired y position
Gerth 26:c935e39cce8a 417 scopedata_go=false;
Gerth 9:4ee354663560 418 }
Gerth 20:c5fb2ff5d457 419 if (safetyandthreshold_go==true) {// check the potmeters
Gerth 26:c935e39cce8a 420 //TIME THIS LOOP TAKES: 0.000032 SEC
Gerth 35:0141a1fe8138 421 safetyandthreshold(); // read out the potmeters on top of the biorobotics board
Gerth 9:4ee354663560 422 safetyandthreshold_go=false;
Gerth 26:c935e39cce8a 423 }
Gerth 7:7fbb2c028778 424 ///////////////////////////////////////////NORMAL RUNNING MODE
Gerth 7:7fbb2c028778 425 if(modecounter==0) {
Gerth 6:37c94a5e205f 426 if (switchedmode==true) {
Gerth 35:0141a1fe8138 427 pc.printf("Program running\n");// print to serial
Gerth 35:0141a1fe8138 428 ledgreen=0;// green led on
Gerth 35:0141a1fe8138 429 led1=led2=ledred=ledblue=1;//rest of
Gerth 6:37c94a5e205f 430 switchedmode=false;
Gerth 6:37c94a5e205f 431 }
Gerth 20:c5fb2ff5d457 432 if (filter_go==true) {// filter the emg signal
Gerth 26:c935e39cce8a 433 // TIME THIS LOOP TAKES: 0.000173 SEC
Gerth 35:0141a1fe8138 434 filtereverything(false);
Gerth 26:c935e39cce8a 435 filter_go=false;
Gerth 6:37c94a5e205f 436 }
Gerth 20:c5fb2ff5d457 437 if (readsignal_go==true) {// check if signal is 0 or 1 and adjust wanted position
Gerth 26:c935e39cce8a 438 // TIME THIS LOOP TAKES: 0.000005 SEC
Gerth 17:72d3522165ac 439 readsignal();
Gerth 17:72d3522165ac 440 readsignal_go=false;
Gerth 26:c935e39cce8a 441 }
Gerth 20:c5fb2ff5d457 442 if (control_go==true) {// calculate angles from positions and send error to controller
Gerth 26:c935e39cce8a 443 //TIME THIS LOOP TAKES: 0.000223 SEC
Gerth 26:c935e39cce8a 444
Gerth 20:c5fb2ff5d457 445 desired_angle1=anglepos.positiontoangle1(desired_position,y_start);
Gerth 20:c5fb2ff5d457 446 desired_angle2=anglepos.positiontoangle2(desired_position,y_start);
Gerth 16:63320b8f79c2 447
Gerth 20:c5fb2ff5d457 448 float error1=(desired_angle1-counttorad*encoder1.getPulses());
Gerth 20:c5fb2ff5d457 449 float error2=(desired_angle2-counttorad*encoder2.getPulses());
Gerth 31:8646e853979f 450 mycontroller.PID(error1,error2,Kp_move,Ki_move,Kd_move);
Gerth 6:37c94a5e205f 451 control_go=false;
Gerth 26:c935e39cce8a 452 }
Gerth 1:917c07a4f3ec 453 }
Gerth 7:7fbb2c028778 454 ////////////////////////////////////////////////////CALIBRATE RIGHT ARM
Gerth 6:37c94a5e205f 455 if (modecounter==1) {
Gerth 6:37c94a5e205f 456 if(switchedmode==true) {
Gerth 6:37c94a5e205f 457 pc.printf("Calibration mode! Use buttons to move rigth arm to 0 degrees\n");
Gerth 16:63320b8f79c2 458 led1=led2=ledred=0;
Gerth 16:63320b8f79c2 459 ledgreen=ledblue=1;
Gerth 6:37c94a5e205f 460 switchedmode=false;
Gerth 14:4c4f45a1dd23 461 }
Gerth 14:4c4f45a1dd23 462 if (ledblink_go==true) {
Gerth 20:c5fb2ff5d457 463 led1=!led1;// blink rigth led on biorobotics shield (because rigth arm is being calibrated)
Gerth 16:63320b8f79c2 464 ledblink_go=false;
Gerth 6:37c94a5e205f 465 }
Gerth 20:c5fb2ff5d457 466 if (readbuttoncalibrate_go==true) {//check wich button is pressed and adjust wanted angle of rigth arm
Gerth 9:4ee354663560 467 if (buttonR.read()==0 && buttonL.read()==1) {
Gerth 20:c5fb2ff5d457 468 desired_angle1 += (radpersec_calibrate/readbuttoncalibrate_frequency);
Gerth 9:4ee354663560 469 readbuttoncalibrate_go=false;
Gerth 9:4ee354663560 470 }
Gerth 9:4ee354663560 471 if (buttonR.read()==1 && buttonL.read()==0) {
Gerth 20:c5fb2ff5d457 472 desired_angle1 -= (radpersec_calibrate/readbuttoncalibrate_frequency);
Gerth 9:4ee354663560 473 readbuttoncalibrate_go=false;
Gerth 9:4ee354663560 474 }
Gerth 9:4ee354663560 475 }
Gerth 25:21dcd3f9eac2 476 if (control_go==true) {// calculate errors and send them to controllers
Gerth 25:21dcd3f9eac2 477 error1=(desired_angle1-counttorad*encoder1.getPulses());
Gerth 35:0141a1fe8138 478 error2=0;// only adjust rigth arm
Gerth 31:8646e853979f 479 mycontroller.PI(error1,error2,Kp_move,Ki_move);
Gerth 20:c5fb2ff5d457 480 control_go=false;
Gerth 20:c5fb2ff5d457 481 }
Gerth 8:54a7da09ccad 482 }
Gerth 8:54a7da09ccad 483 ////////////////////////////////////////////CALIBRATE LEFT ARM
Gerth 8:54a7da09ccad 484 if (modecounter==2) {
Gerth 8:54a7da09ccad 485 if(switchedmode==true) {
Gerth 8:54a7da09ccad 486 pc.printf("Calibration mode! Use buttons to move left arm to 0 degrees\n");
Gerth 16:63320b8f79c2 487 led1=led2=ledred=0;
Gerth 16:63320b8f79c2 488 ledgreen=ledblue=1;
Gerth 8:54a7da09ccad 489 switchedmode=false;
Gerth 8:54a7da09ccad 490 }
Gerth 14:4c4f45a1dd23 491 if (ledblink_go==true) {
Gerth 20:c5fb2ff5d457 492 led2=!led2;// blink left led on biorobotics shield (because left arm is being calibrated)
Gerth 16:63320b8f79c2 493 ledblink_go=false;
Gerth 14:4c4f45a1dd23 494 }
Gerth 25:21dcd3f9eac2 495 if (readbuttoncalibrate_go==true) {//
Gerth 20:c5fb2ff5d457 496 if (buttonR.read()==0 && buttonL.read()==1) {//check wich button is pressed and adjust wanted angle of left arm
Gerth 20:c5fb2ff5d457 497 desired_angle2 += (radpersec_calibrate/readbuttoncalibrate_frequency);
Gerth 8:54a7da09ccad 498 readbuttoncalibrate_go=false;
Gerth 7:7fbb2c028778 499 }
Gerth 8:54a7da09ccad 500 if (buttonR.read()==1 && buttonL.read()==0) {
Gerth 20:c5fb2ff5d457 501 desired_angle2 -= (radpersec_calibrate/readbuttoncalibrate_frequency);
Gerth 8:54a7da09ccad 502 readbuttoncalibrate_go=false;
Gerth 7:7fbb2c028778 503 }
Gerth 6:37c94a5e205f 504 }
Gerth 25:21dcd3f9eac2 505 if (control_go==true) {// calculate errors and send to controller
Gerth 35:0141a1fe8138 506 error1=0; // only adjus left arm
Gerth 25:21dcd3f9eac2 507 error2=(desired_angle2-counttorad*encoder2.getPulses());
Gerth 31:8646e853979f 508 mycontroller.PI(error1,error2,Kp_move,Ki_move);
Gerth 20:c5fb2ff5d457 509 control_go=false;
Gerth 20:c5fb2ff5d457 510 }
Gerth 3:48438eea184e 511 }
Gerth 16:63320b8f79c2 512 ///////////////////////////////BUTTONCONTROLMODE
Gerth 15:17de575b7385 513 if (modecounter==3) {
Gerth 16:63320b8f79c2 514 if (switchedmode==true) {
Gerth 19:6f22b5687587 515 pc.printf("Buttonmode, you can use the buttons to control the robot\n");
Gerth 16:63320b8f79c2 516 led1=led2=0;
Gerth 25:21dcd3f9eac2 517 ledred=ledblue=1;
Gerth 21:6954cc25f2a7 518 encoder1.reset();// reset encoders so they are at 0 degrees
Gerth 21:6954cc25f2a7 519 encoder2.reset();
Gerth 36:3856509519cf 520 desired_position=0;//set desired position to the middle of the field, where the pod actually is.
Gerth 16:63320b8f79c2 521 switchedmode=false;
Gerth 16:63320b8f79c2 522 }
Gerth 16:63320b8f79c2 523 if (ledblink_go==true) {
Gerth 35:0141a1fe8138 524 ledgreen=!ledgreen; // blink green led
Gerth 16:63320b8f79c2 525 ledblink_go=false;
Gerth 15:17de575b7385 526 }
Gerth 35:0141a1fe8138 527 if (readsignal_go==true) {// read buttons and adjust wanted position
Gerth 17:72d3522165ac 528 readsignalbutton();
Gerth 17:72d3522165ac 529 readsignal_go=false;
Gerth 17:72d3522165ac 530 }
Gerth 20:c5fb2ff5d457 531 if (control_go==true) {// calculate wanted angles from position, errors and send to controller
Gerth 20:c5fb2ff5d457 532 desired_angle1=anglepos.positiontoangle1(desired_position,y_start);
Gerth 20:c5fb2ff5d457 533 desired_angle2=anglepos.positiontoangle2(desired_position,y_start);
Gerth 17:72d3522165ac 534
Gerth 25:21dcd3f9eac2 535 error1=(desired_angle1-counttorad*encoder1.getPulses());
Gerth 25:21dcd3f9eac2 536 error2=(desired_angle2-counttorad*encoder2.getPulses());
Gerth 31:8646e853979f 537 mycontroller.PID(error1,error2,Kp_move,Ki_move,Kd_move);
Gerth 17:72d3522165ac 538 control_go=false;
Gerth 16:63320b8f79c2 539 }
Gerth 16:63320b8f79c2 540 }
Gerth 35:0141a1fe8138 541 //////////////////////////////////EMG GAIN AND THRESHOLD CALIBRATION MODE
Gerth 35:0141a1fe8138 542 if(modecounter==4) {
Gerth 33:1c7b498ded25 543 if (switchedmode==true) {
Gerth 33:1c7b498ded25 544 pc.printf("Calibrate the EMG signals and threshold");
Gerth 33:1c7b498ded25 545 ledgreen=1;
Gerth 33:1c7b498ded25 546 ledred=0;
Gerth 33:1c7b498ded25 547 switchedmode=false;
Gerth 33:1c7b498ded25 548 }
Gerth 33:1c7b498ded25 549 if(ledblink_go==true) {
Gerth 33:1c7b498ded25 550 ledgreen=!ledgreen;
Gerth 33:1c7b498ded25 551 ledred=!ledred;
Gerth 33:1c7b498ded25 552 ledblink_go=false;
Gerth 33:1c7b498ded25 553 }
Gerth 33:1c7b498ded25 554 if (filter_go==true) {// filter the emg signal
Gerth 33:1c7b498ded25 555 // TIME THIS LOOP TAKES: 0.000173 SEC
Gerth 33:1c7b498ded25 556 filtereverything(false);
Gerth 33:1c7b498ded25 557 filter_go=false;
Gerth 33:1c7b498ded25 558 }
Gerth 33:1c7b498ded25 559 }
Gerth 35:0141a1fe8138 560 checktimervalue=checktimer.read(); // write the time it has taken to a variable, so this variable can be displayed using hidschope.
Gerth 35:0141a1fe8138 561 // if chectimer.read() is used in scopedata, the value is probably ~0
Gerth 35:0141a1fe8138 562 //because scopedata is called as one of the first functoins
Gerth 25:21dcd3f9eac2 563 checktimer.stop();
Gerth 0:dd66fff537d7 564 }
Gerth 8:54a7da09ccad 565 }